Experimental psychology shows that humans can interpret others'
intention by observing their actions, which is part of the so-called
Theory of Mind, ToM [1]}. Interpreting actions in terms
of their final goal may give hints on why a human performed those
actions, and hence make us able to infer that human's intentions
[2]}. Inspired from these concepts, we define a framework called Human Intention Recognition and Reasoning (\(\operatorname{HIRR}\) ) for
generating proactive behavior based on intention recognition.
Intention recognition applies inverse planning rules to recognize
the intention of the human in the form of an action plan. The robot can
then proactively enact the next action in that action plan on
behalf of the human, or it can inform the human on which action to take
next in order to reach their goal.
